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Equity and Stock-Based Compensation (Tables) | 12 Months Ended
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Sep. 30, 2019
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract] |
Summary of Equity Compensation Plans | Equity compensation plans as of September 30, 2019 are summarized in the table below:
Name of Plan |  | Shares Authorized |  |  | Shares Available for Grant |  |  | Options Outstanding |  |  | Plan Expiration
2007 Employee Stock Incentive Plan |  |  | 3,000,000 |  |  |  | 856,453 |  |  |  | 879,314 |  |  | Mar. 2024
Non-Employee Directors Stock Option Plan |  |  | 500,000 |  |  |  | 99,600 |  |  |  | 189,351 |  |  | Mar. 2020
|  |  |  |  |  |  | 956,053 |  |  |  | 1,068,665 |  |  |
Schedule of Fair Value of Stock Option Using Black-Scholes Option Pricing Model | We estimate the fair value of stock option awards on the date of grant using the Black-Scholes option pricing model using the following assumptions:
|  | Years Ended September 30, |
|  | 2019 |  |  | 2018 |  |  | 2017 |
Risk free interest rate |  | 3% |  |  | 3% |  |  | 2% |
Expected life |  | 6 years |  |  | 6 years |  |  | 6 years |
Dividend rate |  | 0% |  |  | 0% |  |  | 0% |
Volatility |  | 60% |  |  | 59% |  |  | 63% |
Summary of Stock Option Transactions and Options Outstanding | Stock option transactions and the options outstanding are summarized as follows:
|  | Years Ended September 30, |
|  | 2019 |  |  | 2018 |  |  | 2017 |
|  | Options |  |  | Weighted Average Exercise Price |  |  | Options |  |  | Weighted Average Exercise Price |  |  | Options |  |  | Weighted Average Exercise Price |
Outstanding at beginning of period |  |  | 1,248,758 |  |  | $ | 7.69 |  |  |  | 1,560,441 |  |  | $ | 7.95 |  |  |  | 1,841,567 |  |  | $ | 8.15 |
Granted |  |  | 198,850 |  |  |  | 5.35 |  |  |  | 44,000 |  |  |  | 7.40 |  |  |  | 145,000 |  |  |  | 5.23 |
Exercised |  |  | (52,201 | ) |  |  | 4.02 |  |  |  | (277,154 | ) |  |  | 6.71 |  |  |  | (317,986 | ) |  |  | 6.30 |
Forfeited/expired |  |  | (326,742 | ) |  |  | 9.00 |  |  |  | (78,529 | ) |  |  | 16.12 |  |  |  | (108,140 | ) |  |  | 12.71 |
Outstanding at end of period |  |  | 1,068,665 |  |  | $ | 7.04 |  |  |  | 1,248,758 |  |  | $ | 7.69 |  |  |  | 1,560,441 |  |  | $ | 7.95 |
Exercisable at end of period |  |  | 842,083 |  |  | $ | 7.45 |  |  |  | 1,014,300 |  |  | $ | 7.93 |  |  |  | 1,055,865 |  |  | $ | 8.58 |
Weighted average grant-date fair value of options granted during the period |  | $ | 3.08 |  |  |  |  |  |  | $ | 4.20 |  |  |  |  |  |  | $ | 3.04 |  |  |  |  |
Summary of Stock Options Outstanding and Exercisable | The following table summarizes information for stock options outstanding and exercisable as of September 30, 2019:
|  | Options Outstanding |  |  | Options Exercisable |
Range of Exercise Prices |  | Number Outstanding |  |  | Remaining Contractual Life (in years) |  |  | Weighted Average Exercise Price Per Share |  |  | Number Exercisable |  |  | Weighted Average Exercise Price Per Share |
2.95-4.85 |  |  | 116,430 |  |  |  | 6.22 |  |  | $ | 3.95 |  |  |  | 91,430 |  |  | $ | 3.73 |
4.87-5.07 |  |  | 60,750 |  |  |  | 6.94 |  |  |  | 5.02 |  |  |  | 45,750 |  |  |  | 5.00 |
5.25-5.25 |  |  | 168,674 |  |  |  | 4.12 |  |  |  | 5.25 |  |  |  | 147,424 |  |  |  | 5.25 |
5.40-5.40 |  |  | 6,000 |  |  |  | 6.29 |  |  |  | 5.40 |  |  |  | 6,000 |  |  |  | 5.40 |
5.52-5.52 |  |  | 152,000 |  |  |  | 9.16 |  |  |  | 5.52 |  |  |  | — |  |  |  | — |
5.75-6.15 |  |  | 68,469 |  |  |  | 3.50 |  |  |  | 5.96 |  |  |  | 68,469 |  |  |  | 5.96 |
7.01-7.01 |  |  | 133,250 |  |  |  | 2.72 |  |  |  | 7.01 |  |  |  | 133,250 |  |  |  | 7.01 |
7.15-7.98 |  |  | 143,976 |  |  |  | 4.09 |  |  |  | 7.75 |  |  |  | 130,644 |  |  |  | 7.79 |
8.20-9.94 |  |  | 18,428 |  |  |  | 2.59 |  |  |  | 9.33 |  |  |  | 18,428 |  |  |  | 9.33 |
9.98-22.26 |  |  | 200,688 |  |  |  | 3.44 |  |  |  | 11.79 |  |  |  | 200,688 |  |  |  | 11.79 |
|  |  | 1,068,665 |  |  |  | 4.87 |  |  | $ | 7.04 |  |  |  | 842,083 |  |  | $ | 7.45 |

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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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